Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736266
Yinshui He, Hao Zhou, Junwei Wang, Di Wu, Shanben Chen
In the development of intelligentized robotic welding, weld seam profile extraction is a prerequisite in thick plate welding for path planning and seam tracking. This paper presents a robotic welding system to implement autonomous welding for T-joints, where a novel vision sensor is employed to capture weld seam profiles and weld pools simultaneously in the same frame. It exploits lasers to profile the T-joint. This paper concentrates on accurately extracting the seam profile from the background of the weld pool. An effective procedure of extracting the weld seam profile of the T-joint based on the orientation saliency of the laser stripe is proposed. Experimental results showed the effectiveness of the proposed method.
{"title":"Weld seam profile extraction of T-joints based on orientation saliency for path planning and seam tracking","authors":"Yinshui He, Hao Zhou, Junwei Wang, Di Wu, Shanben Chen","doi":"10.1109/ARSO.2016.7736266","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736266","url":null,"abstract":"In the development of intelligentized robotic welding, weld seam profile extraction is a prerequisite in thick plate welding for path planning and seam tracking. This paper presents a robotic welding system to implement autonomous welding for T-joints, where a novel vision sensor is employed to capture weld seam profiles and weld pools simultaneously in the same frame. It exploits lasers to profile the T-joint. This paper concentrates on accurately extracting the seam profile from the background of the weld pool. An effective procedure of extracting the weld seam profile of the T-joint based on the orientation saliency of the laser stripe is proposed. Experimental results showed the effectiveness of the proposed method.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129140813","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736261
Chen Lin, Peng Chen, Q. Cao
Stepping motors are applied to service robots in many cases, unfortunately stepping motors often occur out-of-step situation when it is overload. In order to sense the occurrence of out-of-step without the help from external sensors, its feedback could only induce from its inner structure of the stepping motor. In other words, occurrence of out-of-step cause variable back electromotive force (emf) which cause fluctuation of phase current change. By detecting the change of phase current, the occurrence of out-of-step becomes more observable. Based on the feedback which is the phase current change, a new control system is introduced in this paper, which inserts feedback into a PID regulator to increase the input current and further increase output torque of motor shaft simultaneously. Based on the simulation result in Matlab, the stepping motor is able to make sure the shaft is in its static state even though load torque is larger than normal value. Therefore, service robot arm has much strength to hold heavy things than before.
{"title":"Research on torque-variable control method for stepping motors in service robot arm","authors":"Chen Lin, Peng Chen, Q. Cao","doi":"10.1109/ARSO.2016.7736261","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736261","url":null,"abstract":"Stepping motors are applied to service robots in many cases, unfortunately stepping motors often occur out-of-step situation when it is overload. In order to sense the occurrence of out-of-step without the help from external sensors, its feedback could only induce from its inner structure of the stepping motor. In other words, occurrence of out-of-step cause variable back electromotive force (emf) which cause fluctuation of phase current change. By detecting the change of phase current, the occurrence of out-of-step becomes more observable. Based on the feedback which is the phase current change, a new control system is introduced in this paper, which inserts feedback into a PID regulator to increase the input current and further increase output torque of motor shaft simultaneously. Based on the simulation result in Matlab, the stepping motor is able to make sure the shaft is in its static state even though load torque is larger than normal value. Therefore, service robot arm has much strength to hold heavy things than before.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121345299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736283
Zong-Yi Wang, Fuqiang Liu, Xing-Jian Wang, Yu-ren Ji
Large equipment factory and shipyards have lots of ear plate reinforced rings to be welded, which is time consuming and labor intensive. This paper is an introduction to a new intelligent framework for robotic welding based on an ear plate reinforced ring automatic welding robot system. Intelligent recognition, real-time tracking and shortest path planning have been innovatively integrated into a robotic intelligent framework. This type of experimentation has not been conducted previously in the area of industrial robotics. Detailed algorithms for these procedures are presented here, along with the results of the final experiment.
{"title":"An ear plate reinforced ring welding robot system with intelligent recognition function","authors":"Zong-Yi Wang, Fuqiang Liu, Xing-Jian Wang, Yu-ren Ji","doi":"10.1109/ARSO.2016.7736283","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736283","url":null,"abstract":"Large equipment factory and shipyards have lots of ear plate reinforced rings to be welded, which is time consuming and labor intensive. This paper is an introduction to a new intelligent framework for robotic welding based on an ear plate reinforced ring automatic welding robot system. Intelligent recognition, real-time tracking and shortest path planning have been innovatively integrated into a robotic intelligent framework. This type of experimentation has not been conducted previously in the area of industrial robotics. Detailed algorithms for these procedures are presented here, along with the results of the final experiment.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115267792","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736280
J. A. Rico, S. Hirose, G. Endo, Hiroya Yamada, N. Tsuzuki, H. Kikura
After the incident in Fukushima nuclear plant, the access to several critical areas was damaged. Thus, the monitoring of them turned difficult. In order to keep tracking the status of these areas, it has been proposed to insert sensors through piping that is located nearby the element of interest. However, these pipelines have many restriction, like small diameter, changes of direction, elements that block access, etc. and none of the existing technologies have the capability of going through the piping while carrying the required sensors. In this paper we report a proposal of a new system, whose propulsion is based on water-jet. This device shows good possibilities to fulfill the requirements of carrying out the desired task. The design of this proposal aims to solve the limitations observed in the experiments done with a current technology, which are also described briefly. Basic tests done with the prototype developed are shown as well.
{"title":"Proposal and basic experiments of a piping inspection system based on water-jet","authors":"J. A. Rico, S. Hirose, G. Endo, Hiroya Yamada, N. Tsuzuki, H. Kikura","doi":"10.1109/ARSO.2016.7736280","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736280","url":null,"abstract":"After the incident in Fukushima nuclear plant, the access to several critical areas was damaged. Thus, the monitoring of them turned difficult. In order to keep tracking the status of these areas, it has been proposed to insert sensors through piping that is located nearby the element of interest. However, these pipelines have many restriction, like small diameter, changes of direction, elements that block access, etc. and none of the existing technologies have the capability of going through the piping while carrying the required sensors. In this paper we report a proposal of a new system, whose propulsion is based on water-jet. This device shows good possibilities to fulfill the requirements of carrying out the desired task. The design of this proposal aims to solve the limitations observed in the experiments done with a current technology, which are also described briefly. Basic tests done with the prototype developed are shown as well.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133196693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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